Fusion of UWB-Based Distance Sensors with a Visual Relative Localization System
Introduction
Ultra-violet Detection and Ranging
Ultra-wide band
Kalman filters
Linear Kalman filter
Unscented Kalman filter
Implementation on MAV
Simulations and real-world experiments
A series of experiments have been conducted to evaluate the performance of the proposed measurement system. Experiments took place at Temešvár and Císařský ostrov. A couple of Holybro X500 1 equipped with Qorvo DWM1000 has been chosen as a test platform. These drones were mainly chosen due to the RTK GNSS system onboard, which is crucial for evaluating accuracy and is used as source of ground truth.